US10745242B2 - Method for analysis and measurement system for measuring an elevator shaft of an elevator system - Google Patents

Method for analysis and measurement system for measuring an elevator shaft of an elevator system Download PDF

Info

Publication number
US10745242B2
US10745242B2 US16/323,800 US201716323800A US10745242B2 US 10745242 B2 US10745242 B2 US 10745242B2 US 201716323800 A US201716323800 A US 201716323800A US 10745242 B2 US10745242 B2 US 10745242B2
Authority
US
United States
Prior art keywords
elevator shaft
measurement system
extension direction
main extension
elevator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
US16/323,800
Other languages
English (en)
Other versions
US20190177120A1 (en
Inventor
Christian Studer
Raphael BITZI
Erich Butler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Inventio AG
Original Assignee
Inventio AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=56842726&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=US10745242(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Inventio AG filed Critical Inventio AG
Assigned to INVENTIO AG reassignment INVENTIO AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: STUDER, CHRISTIAN, BUTLER, ERICH, Bitzi, Raphael
Publication of US20190177120A1 publication Critical patent/US20190177120A1/en
Application granted granted Critical
Publication of US10745242B2 publication Critical patent/US10745242B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
    • B66B3/02—Position or depth indicators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B19/00—Mining-hoist operation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
    • G01B11/043—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring length
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/13—Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • H04N5/247—

Definitions

  • the invention relates to a method for analyzing an elevator shaft of an elevator system, which shaft extends mainly in a main extension direction, and to a measurement system for surveying an elevator shaft of an elevator system, which shaft extends mainly in a main extension direction.
  • WO 2014/027142 A2 describes a method for analyzing an elevator shaft of an elevator system, in which the elevator shaft is surveyed using a measurement system.
  • the measurement system has a scanning device, for example in the form of a camera system having one or more cameras.
  • the scanning device By means of the scanning device, distances to and/or relative positions with respect to elements of the elevator shaft, such as shaft walls, are established.
  • the position of the scanning device in the elevator shaft is determined, for example, by means of an acceleration sensor.
  • a digital model of the elevator shaft is created. Subsequently, a check is carried out on the basis of the digital model as to whether the elevator shaft and any elevator system parts already fitted in the elevator shaft are designed as intended.
  • an object of the invention is in particular to propose an analysis method and a measurement system for surveying an elevator shaft of an elevator system that allow the elevator shaft to be surveyed particularly accurately.
  • the elevator shaft is surveyed by means of a measurement system having a camera system.
  • a digital model of the elevator shaft is created.
  • the survey is carried out by means of a measurement system that, in addition to said camera system, also comprises an inertial measurement unit having acceleration and angular rate sensors.
  • the measurement system is thus designed as an “optically inertial measurement system”.
  • At least one further piece of information on the position of the optically inertial measurement system in the main extension direction is recorded and evaluated in addition to the information from the acceleration and angular rate sensors of the inertial measurement unit.
  • information from the acceleration and angular rate sensors should be understood to mean in particular variables such as accelerations and angular rates measured by the sensors, as well as variables derived from the measured variables.
  • Said digital model of the elevator shaft is created on the basis of the position of the measurement system and the location or relative position of distinctive points, such as corners or protrusions on a shaft wall, in relation to the measurement system.
  • the location of the distinctive points i.e. in particular the distances from the measurement system in three coordinate directions, each arranged perpendicularly to one another, can be determined very precisely and reliably by the measurement system.
  • knowledge of the position of the measurement system is very important. Any error in determining the position of the measurement system leads to a corresponding error in the digital model.
  • inertial measurement units comprise three acceleration sensors arranged perpendicularly to one another and three angular rate sensors arranged perpendicularly to one another, by means of which the accelerations in the x, y and z-directions and the angular accelerations about the x, y and z axes can be determined and the current position of the inertial measurement unit can be established or at least estimated therefrom based on a starting position.
  • the inertial measurement unit can also have three magnetic field sensors arranged perpendicularly to one another. In this case, the determination of the acceleration in the vertical direction, i.e.
  • this error in the z-position of the measurement system then also leads to an error in the digital model of the elevator shaft, meaning that a digital model established on the basis of incorrect information on the position of the measurement system does not accurately represent the elevator shaft.
  • the position of the measurement system can be determined particularly accurately. On the basis of the very precise determination of the position of the measurement system, therefore, a very accurate digital model of the elevator shaft can be created.
  • the aforementioned further information on the position of the optically inertial measurement system in the main extension direction can vary and be recorded and evaluated in very different manners.
  • the position of the measurement system in the main extension direction can be re-measured, in addition to the estimation of the position of the measurement system in the main extension direction by means of the inertial measurement unit.
  • there are various methods and systems available for example those provided for the normal operation of elevator systems.
  • indirect information on the position of the measurement system in the main extension direction can also be recorded and evaluated.
  • the relative position of the measurement system in relation to one or more reference elements recorded by the camera system can be determined and evaluated. A prerequisite for this is that information on absolute or relative positions of the reference element(s) is available.
  • the position of the measurement system in the main extension direction can be deduced, or the position thereof determined.
  • the position of the measurement system in the main extension direction determined by means of the aforementioned further information on the position of the optically inertial measurement system can be used to survey the elevator shaft instead of the position determined by means of the inertial measurement unit, for example.
  • the measurement system camera system used for surveying the elevator shaft can be designed as a single camera, a plurality of cameras, two cameras combined to form a stereo camera, or a plurality of stereo cameras.
  • the cameras are designed as digital cameras.
  • clock rates of the cameras and of the inertial measurement unit are synchronized or coordinated with one another.
  • the location of a distinctive point in relation to the measurement system is determined by means of triangulation.
  • the distinctive point is recorded from two different camera positions and its location determined.
  • the location of the distinctive point in relation to the measurement system can be determined in a known manner.
  • the camera When using a camera, the camera must be moved such that it can record the distinctive point from at least two different camera positions to allow the aforementioned triangulation to be executed.
  • two cameras are arranged at a defined distance from one another such that a distinctive point can be recorded simultaneously by both cameras at different camera positions and the triangulation executed.
  • the measurement system is moved in particular within the elevator shaft to thus be able to survey the entire elevator shaft.
  • the movement takes place in particular in the main extension direction and by means of a displacement device, for example in the form of a winch.
  • the measurement system is suspended for example by means of a support means, in particular in the form of a rope or chain, by means of which the displacement device, arranged in particular in a shaft head of the elevator shaft, can move the measurement system in the main extension direction, i.e. in particular can wind the system up and let it down in the vertical direction.
  • a special guide for the measurement system e.g.
  • a device for preventing rotation about an axis in parallel with the main extension direction or for preventing displacement transversely to the main extension direction is not absolutely necessary but can be provided.
  • the measurement system can, for example, by suspended by two support means extending in parallel; this would prevent rotation and displacement of the measurement system.
  • an analysis of an elevator shaft should be understood in particular as being the survey of the elevator shaft and optionally a subsequent check and evaluation of the data obtained during the survey.
  • the result of the survey is a digital model of the elevator shaft.
  • the digital model includes in particular information on the position of distinctive points, such as corners or protrusions in a shaft wall; these may be in the form of a “point cloud.”
  • Each individual point of this point cloud is a surveyed distinctive point.
  • said point cloud can be reworked using suitable methods, and, for example, information on the dimensions of the elevator shaft and on positions of door cut-outs can be derived.
  • the main extension direction of an elevator shaft should be understood to be the direction in which an elevator car of the completed elevator system is moved.
  • the main extension direction thus extends in particular vertically, but it may also be tilted relative to the vertical or extend horizontally.
  • the optically inertial measurement system comprises three stereo cameras, i.e. at least six individual cameras which, during the survey of the elevator shaft, are arranged transversely to the main direction such that an all-round view is ensured.
  • the all-round view thus relates to an axis in parallel with the main extension direction of the elevator shaft.
  • the measurement system it is advantageously possible for the measurement system to record a complete portion in the main extension direction of the elevator shaft from one position. This allows the elevator shaft to be surveyed particularly quickly and in particular also accurately.
  • an all-round view should be understood to mean that the measurement system can record and evaluate objects in all directions transversely to the main extension direction, i.e. in particular in the horizontal direction, without having to move itself.
  • the measurement system can thus record all four shaft walls defining the elevator shaft all at once.
  • the all-round view is made possible by using at least three stereo cameras oriented such that their individual recording regions cover an angular range of 360° about the main extension direction.
  • the individual recording ranges of the stereo cameras in particular overlap.
  • three stereo cameras they can be arranged, for example, perpendicularly to sides of an equilateral triangle.
  • four stereo cameras they can be arranged, for example, perpendicularly to sides of a square.
  • Other arrangements that allow for an all-round view are also conceivable.
  • one or more cameras can also be arranged in the main extension direction.
  • the cameras can thus face upward or downward in the elevator shaft, for example.
  • the optically inertial measurement system is coupled to a position determination unit, which determines a position of the measurement system in the main extension direction. This position is recorded and evaluated as further information on the position of the optically inertial measurement system in the main extension direction.
  • Position determination units can determine a position very accurately and in particular without any influence from gravitational acceleration.
  • Position determination units of this kind which are designed, for example, as ultrasound or laser measurement units or evaluate a positional information carrier oriented in the main extension direction, for example in the form of a code strip having magnetic or optical code marks, are available on the market in large quantities and at relatively low prices. The elevator shaft can thus be surveyed cost-effectively and very accurately.
  • coupling the measurement system to a position determination unit should be understood to mean a local coupling and/or signal-based coupling.
  • the position determination unit can thus be arranged on the measurement system, for example. However, it is also possible for at least parts of the position determination unit to be spatially separate from the measurement system, e.g. in the elevator shaft, in particular arranged on the displacement device, and to be connected to the measurement system solely by signals.
  • the position determination unit can transmit unconditioned signals to the measurement system, which are evaluated by the measurement system. It is also possible for the position determination unit to comprise an evaluation electronics system that delivers a prepared signal to the measurement system. A relative position of the measurement system in the main extension direction can also be measured. For this purpose, the displacement of a support means holding the measurement system can be determined, for example, and the current position of the measurement system thus determined based on a starting position.
  • the position determination unit determines a piece of information on the position of the measurement system in the main extension direction by means of an elongate positional information carrier oriented in the main extension direction.
  • the stereo cameras and the positional information carrier are arranged relative to one another such that the positional information carrier is not recorded by any of the stereo cameras. If a stereo camera were to record the positional information carrier, this would need to be recognized and any distinctive points recorded on the positional information carrier removed at a later time. This is complex and can lead to errors when creating the digital model of the elevator shaft.
  • This embodiment of the invention thus allows for a simple elevator shaft surveying method that is particularly unsusceptible to errors.
  • the positional information carrier is implemented within the area of the triangle or square.
  • the positional information carrier extends in particular behind or at the rear of each stereo camera.
  • said carrier can also be used as a guide for preventing unwanted rotation and/or displacement of the measurement system.
  • the positional information carrier is designed in particular as a code strip that has magnetic or optical code marks and is stretched out in the main extension direction in the elevator shaft.
  • the position determination unit comprises a reading unit which reads out and evaluates information in the form of the code marks.
  • the reading unit is arranged on the measurement system, and particularly such that it cannot be recorded by any stereo camera either. In other words, said unit is arranged in particular behind or at the rear of each stereo camera.
  • At least one reference element is arranged in the elevator shaft prior to the survey by means of the optical inertial measurement system. Said reference element is recorded during the survey by the optical inertial measurement system and the recorded information on the reference element is evaluated as further information on the position of the optically inertial measurement system in the main extension direction in order to create the digital model of the elevator shaft. This allows the elevator shaft to be surveyed very accurately.
  • reference elements are arranged in the elevator shaft.
  • a reference element it is possible to use, for example, a marking that a camera of the measurement system can simply and clearly record and evaluate as a distinctive point. The measurement system then determines its location with respect to the reference element(s) and deduces therefrom its position in the main extension direction in the elevator shaft.
  • one reference element is arranged at a known position in the main extension direction in the elevator shaft and this known position is evaluated in order to create the digital model of the elevator shaft.
  • a reference element can be arranged at a defined distance from, for example, a shaft ceiling or a shaft floor. While surveying the elevator shaft, the measurement system then recognizes the reference element and knows the position thereof, meaning that the system can derive its position in the main extension direction from the position of the reference element and its location relative to said element.
  • a reference element can also be arranged at a known absolute height above sea level.
  • a building is typically surveyed by a surveyor and provided with markings.
  • the meter level indicates a reference height for installations that must be installed at a height corresponding to planning specifications. Examples of these are sanitary facilities such as wall-mounted toilets, faucets and drains, but also door frames or the position of a shaft door of an elevator system.
  • the meter level is in particular a marking arranged at precisely 1 meter above the eventual upper level of the finished floor. In addition to this relative position, information on the height of the meter level above sea level can also be provided and processed.
  • At least two reference elements can be arranged at a known distance from one another in the main extension direction in the elevator shaft. This known distance is then evaluated in order to create the digital model of the elevator shaft.
  • the two reference elements can be recorded by the measurement system. On the basis of the measured data, the measurement system then estimates the distance between the two reference elements and compares this with the known distance between the reference elements. From this comparison, the exact position of the measurement system in the main extension direction can be deduced.
  • This approach can be used particularly advantageously if, before the survey, a cord having reference elements, for example in the form of markings, at defined distances of e.g. one meter from one another is stretched out in the main extension direction in the elevator shaft.
  • the cord can in particular also be arranged such that the markings are at a known distance from the shaft floor or shaft ceiling.
  • the cord can be arranged such that the lowermost marking is at a distance of one meter from the shaft floor.
  • both the position of the markings with respect to the shaft floor or shaft ceiling and also the distance between the markings are known.
  • an elongate orientation element extending mainly in the main extension direction is arranged in the elevator shaft and is used to verify the established position of the optically inertial measurement system. This ensures the elevator shaft is surveyed particularly accurately.
  • the orientation element is used in particular to verify the position of the measurement system transversely to the main extension direction of the elevator shaft.
  • the orientation element In addition to the aforementioned inaccuracies when determining the position of the measurement system by means of the inertial measurement unit in the vertical direction, i.e. z-direction, there may also be more minor inaccuracies in the x and/or y-direction.
  • these inaccuracies can be recognized and eliminated.
  • the established position of the optically inertial measurement system can be verified as mentioned above either during the survey or later when creating the digital model of the elevator shaft.
  • Said orientation element can in particular comprise a plurality of reference elements arranged at a defined distance from one another.
  • the orientation element can be designed as a cord on which each reference element in the form of a marking is arranged so as to be spaced apart by, for example, one meter.
  • the orientation element can advantageously fulfil two functions. Firstly, it can ensure that the position of the measurement system in the main extension direction is determined accurately, and secondly, it can ensure that the position of the measurement system transversely to the main extension direction is verified.
  • the orientation element can be arranged such that the markings are at a known distance from the shaft floor or shaft ceiling.
  • said model is compared with a target model of the elevator shaft. It can thus advantageously be checked whether the actual elevator shaft meets the specifications. If there are excessively large discrepancies, reworking may be required for example, and/or the elevator shaft may be denied approval.
  • a check is carried out as to whether a planned design of the elevator system can be implemented in the surveyed elevator shaft.
  • the assembly of the elevator system can only begin when it is certain that the assembly can also be completed as planned. This can prevent unnecessary costs.
  • the planned design of the elevator system should be understood to mean, by way of example, a size of the elevator car and a counterbalance, an arrangement of guide rails and of the retainers for the elevator car and the counterbalance, and the arrangement of additional elevator system elements.
  • adjustments are made to the elevator shaft and/or to the design of the elevator system. This can prevent adjustments and thus high costs and lost time, as would occur after the elevator system has begun to be built. More cost-effective and quicker construction of the elevator system is thus made possible.
  • adjustments should be understood to mean that the walls of the elevator shaft are altered, the size of the elevator car and/or the counterbalance is adjusted, other retainers for guide rails are provided, or planned positions of said retainers are changed.
  • a measurement system for surveying an elevator shaft of an elevator system which shaft extends mainly in a main extension direction
  • a camera system which additionally comprises an inertial measurement unit having acceleration and angular rate sensors, and an evaluation unit.
  • the evaluation unit is provided to record and evaluate further information on the position of the measurement system in the main extension direction, in addition to the information from the acceleration and angular rate sensors of the inertial measurement unit, in order to create a digital model of the elevator shaft.
  • the measurement system according to the invention allows an elevator shaft to be measured particularly accurately.
  • the measurement system comprises three stereo cameras which, during the survey of the elevator shaft, are arranged transversely to the main direction such that an all-round view is ensured in relation to the main extension direction.
  • the stereo cameras can be arranged transversely, i.e. at a 90° angle, to the main extension direction, but also slightly tilted, in particular downward.
  • the measurement system also comprises a reading unit of a position determination unit for reading out information from a positional information carrier, by means of which unit a position of the measurement system in the main extension direction can be determined. This ensures an elevator shaft can be surveyed particularly quickly.
  • the reading unit of the position determination unit and the stereo cameras are arranged relative to one another such that the reading unit cannot be recorded by any of the stereo cameras.
  • said unit is arranged in particular behind or at the rear of each stereo camera. If a stereo camera were to record the reading unit, this would need to be recognized and any distinctive points recorded on the reading unit removed at a later time. This is complex and can lead to errors when creating the digital model of the elevator shaft.
  • This embodiment of the invention thus allows an elevator shaft to be surveyed simply and in a manner that is particularly unsusceptible to errors.
  • FIG. 1 is a side view of a measurement system during the survey of an elevator shaft
  • FIG. 2 shows a second embodiment of a measurement system according to the invention for surveying an elevator shaft
  • FIG. 3 shows a third embodiment of a measurement system according to the invention for surveying an elevator shaft.
  • an optically inertial measurement system 10 is suspended on a shaft ceiling 13 of a shaft head 14 of a mainly square elevator shaft 15 by means of a support means in the form of a rope 11 and by means of a displacement device in the form of a winch 12 .
  • the elevator shaft 15 extends in a vertically oriented main extension direction 16 and has a total of four shaft walls, although the side view in FIG. 1 only shows one rear shaft wall 17 and one front shaft wall 18 .
  • the front shaft wall 18 comprises a total of three door openings 19 a , 19 b , 19 c , which are arranged one above the other in the main extension direction 16 .
  • the elevator shaft 15 has a shaft pit 20 , which is closed by a shaft floor 21 .
  • the measurement system 10 comprises a camera system in the form of a digital stereo camera 22 having a first camera 22 a and a second camera 22 b .
  • the stereo camera 22 is arranged on a mainly square main body 23 of the measurement system 10 in such a way that it is oriented vertically downward toward the shaft floor 20 when in the suspended state shown.
  • the stereo camera 22 is designed such as to be able to record portions of all four shaft walls when in the shown state.
  • the stereo camera 22 is connected by signals to an evaluation unit 24 of the measurement system 10 , which receives and evaluates the images recorded by the stereo camera 22 .
  • the evaluation unit 24 searches the images for distinctive points, for example corners or protrusions in any of the shaft walls.
  • said unit can use triangulation to determine the location of the distinctive point in relation to the camera 22 a , 22 b and thus in relation to the measurement system 10 .
  • an inertial measurement unit 25 is arranged on the main body 23 of the measurement system 10 .
  • the inertial measurement unit 25 comprises three acceleration sensors (not shown) arranged perpendicularly to one another and three angular rate sensors (not shown) arranged perpendicularly to one another, by means of which the accelerations in the x, y and z-directions and the angular accelerations about the x, y and z axes can be determined. From the measured accelerations, the inertial measurement unit 25 can estimate its position based on a starting position, and thus also that of the measurement system 10 , and can transmit these to the evaluation unit 24 of the measurement system 10 . It is also possible for the inertial measurement unit 25 to only transmit the measured accelerations to the evaluation unit 24 and for the evaluation unit 24 to estimate the position of the measurement system 10 therefrom.
  • the measurement system 10 is coupled to a position determination unit 26 .
  • the position determination unit 26 has a positional information carrier, which is oriented in the main extension direction 16 and is in the form of a code strip 27 stretched between the shaft floor 21 and shaft ceiling 13 .
  • the code strip 27 comprises invisible magnetic code marks, which represent information on the position in the main extension direction 16 .
  • the position determination unit 26 further comprises a reading unit 28 that is arranged on the side of the main body 23 of the measurement system 10 and through which the code strip 27 is guided.
  • the code strip 27 thus counteracts rotation of the measurement system 10 about an axis in the main extension direction 16 and displacement of the measurement system 10 transversely to the main extension direction 16 , and thus acts as a guide for the measurement system 10 .
  • the reading unit 28 reads out information in the form of the magnetic code marks of the code strip 27 and can thus very accurately determine the position of the reading unit 28 and thus of the measurement system 10 in the main extension direction 16 .
  • the information read out from the code strip 27 can thus be considered further information on the position of the measurement system 10 in the main extension direction 16 in addition to the information from the acceleration and angular rate sensors of the inertial measurement unit 25 .
  • the position of the measurement system 10 in the main extension direction 16 determined by means of the position determination unit 26 is considered the correct position of the measurement system 10 and thus replaces the position of the measurement unit 10 in the main extension direction estimated by means of the inertial measurement unit 25 .
  • the evaluation unit 24 determines the absolute position of the distinctive point.
  • the evaluation unit 24 thus determines the positions of a plurality of distinctive points and in this way creates a digital model of the elevator shaft 15 , which model initially consists of a plurality of individual points, i.e. what is known as a point cloud.
  • lines and areas can be derived from the point cloud.
  • the measurement system 10 is displaced downward in the elevator shaft 15 by the winch 12 .
  • FIG. 1 In the region of each shaft opening 19 a , 19 b , 19 c , one reference element in the form of a marking 29 a , 29 b , 29 c is arranged on a shaft wall.
  • the markings 29 a , 29 b , 29 c are in particular designed as what are known as meter levels, which are spaced apart by one meter from the eventual floor covering.
  • the absolute height above sea level or the relative height above the shaft floor 21 is known.
  • the evaluation unit 24 can determine the location of a marking 29 a , 29 b , 29 c with respect to the measurement system 10 as described above, and can deduce the actual position of the measurement system 10 in the main extension direction 16 on the basis of the known position of the marking 29 a , 29 b , 29 c in the main extension direction and the aforementioned location. This actual position of the measurement system 10 thus determined is then used for surveying the elevator shaft 15 .
  • the position of one of more of the markings 29 a , 29 b , 29 c can thus be considered further information on the position of the measurement system 10 in the main extension direction 16 in addition to the information from the acceleration and angular rate sensors of the inertial measurement unit 25 .
  • an elongate orientation element in the form of a rope 30 can be stretched between the shaft floor 21 and the shaft ceiling 13 .
  • the rope 30 extends in particular in the main extension direction 16 , i.e. in the vertical direction in this case.
  • Said rope comprises reference elements in the form of distance markings 31 at a defined distance of e.g. one meter.
  • the evaluation unit 24 can determine the positions of the distance markings 31 in the main extension direction 16 as described above, and can thus calculate the distance between each one. By comparing the calculated distances with the known actual distances, the evaluation unit 24 can verify and, where necessary, correct the used position of the measurement system 10 in the main extension direction 16 .
  • the distance between the distance markings 31 established by the evaluation unit 24 can thus be considered further information on the position of the measurement system 10 in the main extension direction 16 in addition to the information from the acceleration and angular rate sensors of the inertial measurement unit 25 .
  • the rope 30 can also be used to verify the position of the measurement system 10 transversely to the main extension direction 16 .
  • the established position of the optically inertial measurement system can be verified as mentioned above either during the survey or later when creating the digital model of the elevator shaft.
  • FIG. 2 is a plan view (not to scale) of an alternative measurement system 110 to the measurement system 10 from FIG. 1 in an elevator shaft 15 .
  • the measurement system 110 has the same functionality as the measurement system 10 from FIG. 1 , and so an elevator shaft is generally measured in the same manner. For these reasons, only the differences between the measurement systems will be discussed.
  • the measurement system 110 has a main body 123 having a cross section in the shape of an equilateral triangle. While the elevator shaft 15 is being measured, the measurement system 110 is oriented such that said cross section is transverse to, i.e. perpendicular to the main extension direction of the elevator shaft 15 . In FIG. 2 , the main extension direction of the elevator shaft 15 is oriented perpendicularly to the plane of the drawing.
  • a stereo camera 122 a , 122 b , 122 c is arranged such as to face transversely to the main extension direction.
  • the stereo cameras 122 a , 122 b , 122 c are thus facing shaft walls 17 , 18 , 32 , 33 of the elevator shaft 15 . It is also possible for the stereo cameras to be arranged in a slightly tilted manner relative to the main extension direction, in particular toward the shaft pit.
  • Recording ranges of the stereo cameras 122 a , 122 b , 122 c are designed such that each point of the elevator shaft 15 , which is in more or less the same position in the main extension direction as the measurement system 110 , can be recorded by a stereo camera 122 a , 122 b , 122 c .
  • An all-round view in relation to the main extension direction is thus ensured by the three stereo cameras 122 a , 122 b , 122 c .
  • the recording ranges of the three stereo cameras 122 a , 122 b , 122 c overlap, although this is not strictly necessary. To illustrate this, FIG.
  • FIG. 2 shows a boundary 134 b of the recording range of the stereo camera 122 b in the direction of stereo camera 122 c , and a boundary 134 c of the recording range of the stereo camera 122 c in the direction of stereo camera 122 b .
  • the boundaries 134 b and 134 c intersect while still within the elevator shaft 15 , thus producing an overlap region between the recording ranges of the two stereo cameras 122 b , 122 c . Accordingly, overlap regions are produced between all the stereo cameras 122 a , 122 b , 122 c.
  • the measurement system 110 additionally comprises a reading unit 128 for a code strip 27 of a position determination unit.
  • the code strip 27 is guided through the reading unit 128 , which is arranged behind the three stereo cameras 122 a , 122 b , 122 c such that the reading unit 128 and the code strip 27 cannot be recorded by any of the three stereo cameras 122 a , 122 b , 122 c .
  • the reading unit 128 and the code strip 27 are thus not positioned within any of the recording ranges of the three stereo cameras 122 a , 122 b , 122 c.
  • the measurement system 110 further comprises an evaluation unit 124 and an inertial measurement unit 125 , which are also arranged such that they cannot be recorded by any of the three stereo cameras 122 a , 122 b , 122 c.
  • FIG. 3 is a plan view (not to scale) of an alternative measurement system 210 to both the measurement system 10 from FIG. 1 and the measurement system 110 from FIG. 2 in an elevator shaft 15 .
  • the measurement system 210 has predominantly the same design as the measurement system 110 from FIG. 2 , and so only the differences between the measurement systems will be discussed.
  • the measurement system 210 has a main body 223 having a cross section in the shape of a square. While the elevator shaft 15 is being surveyed, the measurement system 210 is oriented such that said cross section is transverse to, i.e. perpendicular to the main extension direction of the elevator shaft 15 .
  • a stereo camera 222 a , 222 b , 222 c , 222 d is arranged such as to face transversely to the main extension direction.
  • the stereo cameras 222 a , 222 b , 222 c , 222 d are thus directly facing shaft walls 17 , 18 , 32 , 33 of the elevator shaft 15 . It is also possible for the stereo cameras to be arranged in a slightly tilted manner relative to the main extension direction, in particular toward the shaft pit.
  • Recording ranges of the stereo cameras 222 a , 222 b , 222 c , 222 d are designed such that each point of the elevator shaft 15 , which is in more or less the same position in the main extension direction as the measurement system 210 , can be recorded by a stereo camera 222 a , 222 b , 222 c , 222 d .
  • An all-round view in relation to the main extension direction is thus ensured by the four stereo cameras 222 a , 222 b , 222 c , 222 d .
  • the recording ranges of the four stereo cameras 222 a , 222 b , 222 c , 222 d overlap, although this is not strictly necessary. To illustrate this, FIG.
  • FIG. 3 shows a boundary 234 c of the recording range of the stereo camera 222 c in the direction of stereo camera 222 d , and a boundary 234 d of the recording range of the stereo camera 222 d in the direction of stereo camera 222 c .
  • the boundaries 234 c and 234 d intersect while still within the elevator shaft 15 , thus producing an overlap region between the recording ranges of the two stereo cameras 222 c , 222 d . Accordingly, overlap regions are produced between all the stereo cameras 222 a , 222 b , 222 c , 222 d.
  • the measurement system 210 additionally comprises a reading unit 228 for a code strip 27 , an evaluation unit 224 , and an inertial measurement unit 225 .
  • the reading unit 228 , the code strip 27 , the evaluation unit 224 , and the inertial measurement unit 225 are arranged such that they cannot be recorded by any of the four stereo cameras 222 a , 222 b , 222 c , 222 d.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Computational Mathematics (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
US16/323,800 2016-08-30 2017-08-29 Method for analysis and measurement system for measuring an elevator shaft of an elevator system Active US10745242B2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
EP16186223 2016-08-30
EP16186223.0 2016-08-30
EP16186223 2016-08-30
PCT/EP2017/071629 WO2018041815A1 (fr) 2016-08-30 2017-08-29 Procédé d'analyse et système de mesure servant à mesurer une cage d'ascenseur d'un système d'ascenseur

Publications (2)

Publication Number Publication Date
US20190177120A1 US20190177120A1 (en) 2019-06-13
US10745242B2 true US10745242B2 (en) 2020-08-18

Family

ID=56842726

Family Applications (1)

Application Number Title Priority Date Filing Date
US16/323,800 Active US10745242B2 (en) 2016-08-30 2017-08-29 Method for analysis and measurement system for measuring an elevator shaft of an elevator system

Country Status (6)

Country Link
US (1) US10745242B2 (fr)
EP (1) EP3507227B1 (fr)
CN (1) CN109641723B (fr)
AU (1) AU2017318398B2 (fr)
SG (1) SG11201900764UA (fr)
WO (1) WO2018041815A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210300729A1 (en) * 2018-09-26 2021-09-30 Inventio Ag Method for planning and at least partially installing an elevator system in an elevator shaft

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3687933A1 (fr) * 2017-09-27 2020-08-05 Inventio AG Système de localisation et procédé pour déterminer une position actuelle dans une cage d'ascenseur d'une installation d'ascenseur
WO2019206625A1 (fr) 2018-04-26 2019-10-31 Inventio Ag Système de localisation et procédé permettant de déterminer une position actuelle dans une cage d'ascenseur d'une installation d'ascenseur
WO2020120190A1 (fr) 2018-12-13 2020-06-18 Inventio Ag Procédé de planification au moins partiellement automatisée d'installation de composants d'ascenseur d'un système d'ascenseur
JP7111639B2 (ja) * 2019-02-22 2022-08-02 株式会社日立ビルシステム エレベータの基準芯位置演算装置および基準芯演算方法
WO2020178224A1 (fr) * 2019-03-05 2020-09-10 Inventio Ag Dispositif de mesure pour mesurer une gaine d'ascenseur et utilisation du dispositif de mesure pour mesurer une gaine d'ascenseur
WO2020225199A1 (fr) * 2019-05-07 2020-11-12 Inventio Ag Procédé de détection et de traitement de données d'ascenseur d'une installation d'ascenseur
EP3766820B1 (fr) * 2019-07-16 2023-05-31 KONE Corporation Procédé et agencement pour installation de rail de guidage d'ascenseur
EP3766818B1 (fr) * 2019-07-16 2023-06-07 KONE Corporation Procédé et agencement permettant d'installer des rails de guidage d'ascenseur dans une cage d'ascenseur
CN114728769B (zh) * 2019-11-08 2024-08-06 因温特奥股份公司 用于电梯竖井中的安装装置
US11702316B2 (en) * 2020-03-16 2023-07-18 Otis Elevator Company Elevator inspection system with robotic platform configured to develop hoistway model data from sensor data
US20210284497A1 (en) * 2020-03-16 2021-09-16 Otis Elevator Company Elevator inspection system with robotic platform configured to develop hoistway model data from elevator systems connected over a network
US20210284503A1 (en) * 2020-03-16 2021-09-16 Otis Elevator Company Elevator inspection system with robotic platform configured to inspect operational and alignment conditions of components in a hoistway
EP3925917A1 (fr) * 2020-06-15 2021-12-22 Kleemann Hellas SA Plateforme de support mobile intégrée et procédé de balayage d'un arbre
EP3964471A1 (fr) * 2020-09-02 2022-03-09 Kleemann Hellas SA Méthode d'installation assistée
CN112573312B (zh) * 2020-12-03 2023-02-28 日立楼宇技术（广州）有限公司 电梯轿厢位置确定方法、装置、电梯系统及存储介质
CN112833459B (zh) * 2021-01-08 2022-09-02 珠海新势力创建筑设计有限公司 一种基于bim模型百叶朝向自动选用进风井和排风井的方法和装置
EP4030136B1 (fr) * 2021-01-19 2024-07-10 Kleemann Hellas SA Système pour la mesure des dimensions d'une cage d'ascenceur
EP4095036A1 (fr) 2021-05-25 2022-11-30 VERTLINER Private Company Véhicule aérien autonome sans pilote pour l'inspection d'un passage vertical de bâtiment
CN117836233A (zh) 2021-08-20 2024-04-05 通力股份公司 用于电梯井道三维建模的方法和测量系统
CN113896075A (zh) * 2021-09-30 2022-01-07 深圳市中金岭南有色金属股份有限公司凡口铅锌矿 刚性罐道的故障检测系统
DE102022106990A1 (de) 2022-03-24 2023-09-28 Tk Elevator Innovation And Operations Gmbh Aufzugvorrichtung, Aufzugsystem und Verfahren zum Befördern von Lasten

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6349249B1 (en) 1998-04-24 2002-02-19 Inco Limited Automated guided apparatus suitable for toping applications
US7562747B2 (en) 2004-08-12 2009-07-21 Inventio Ag Elevator installation and method for determining and analyzing an elevator car position
US20130096873A1 (en) 2011-10-17 2013-04-18 Kla-Tencor Corporation Acquisition of Information for a Construction Site
WO2014027142A1 (fr) 2012-08-17 2014-02-20 Kone Corporation Procédé dans la gestion de données associées à un ascenseur
US20140251734A1 (en) * 2013-03-11 2014-09-11 Mitsubishi Electric Research Laboratories, Inc. System and Method for Controlling Semi-Active Actuators Arranged to Minimize Vibration in Elevator Systems
US20160139269A1 (en) 2014-11-19 2016-05-19 Kabushiki Kaisha Toshiba Elevator shaft internal configuration measuring device, elevator shaft internal configuration measurement method, and non-transitory recording medium
WO2017093438A1 (fr) 2015-12-02 2017-06-08 Inventio Ag Contrôle et/ou établissement de protocole d'une position d'un outil dans une cage d'ascenseur

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USH262H (en) * 1983-11-25 1987-05-05 The United States Of America As Represented By The United States Department Of Energy Method of and apparatus for removing silicon from a high temperature sodium coolant
JPH03124683A (ja) * 1989-10-11 1991-05-28 Hitachi Elevator Eng & Service Co Ltd ガイドレールの据付精度測定装置
USH1262H (en) * 1991-10-02 1993-12-07 The United States Of America As Represented By The United States Department Of Energy Rod examination gauge
CN2296517Y (zh) * 1997-03-02 1998-11-04 朱家璈 一种激光测锤
JP2004037203A (ja) * 2002-07-02 2004-02-05 Toshiba Elevator Co Ltd エレベータの寸法測定装置
JP2005096919A (ja) * 2003-09-24 2005-04-14 Toshiba Elevator Co Ltd エレベータの寸法測定装置及びエレベータの寸法測定方法
AU2003293208A1 (en) * 2003-11-26 2005-07-21 Otis Elevator Company Device and method for self-aligning position reference system
CN1322310C (zh) * 2005-07-14 2007-06-20 上海交通大学 电梯导轨横向位移测量装置
CN201072336Y (zh) * 2007-07-24 2008-06-11 武汉东菱富士电梯制造有限公司 激光测量装置
KR101225039B1 (ko) * 2007-12-07 2013-01-22 오티스 엘리베이터 컴파니 엘리베이터 승강로들을 검사하는 방법 및 장치
FI121977B (fi) * 2009-04-07 2011-06-30 Kone Corp Välineet ja menetelmä hissikuilun mittaamiseksi
US9031809B1 (en) 2010-07-14 2015-05-12 Sri International Method and apparatus for generating three-dimensional pose using multi-modal sensor fusion
CN102074142B (zh) * 2011-01-14 2012-02-22 山东滕州辰龙能源集团有限公司 模拟煤矿安全作业过程的方法及系统
FI123951B (fi) * 2012-08-17 2013-12-31 Kone Corp Menetelmä hissiin liittyvän tiedon hallinnoinnissa
US9303999B2 (en) 2013-12-30 2016-04-05 Google Technology Holdings LLC Methods and systems for determining estimation of motion of a device
CN104649092B (zh) * 2015-01-27 2017-05-10 中国矿业大学 刚性罐道平整度缺陷先期检测方法
CN104966063A (zh) * 2015-06-17 2015-10-07 中国矿业大学 基于gpu与cpu协同计算的矿井多摄像机视频融合方法
CN104973479B (zh) * 2015-06-26 2017-07-25 中国矿业大学 一种施工立井吊桶运动状态监测系统及方法
CN105065846B (zh) * 2015-07-24 2020-01-10 天津市水利科学研究院 地下管道修复系统及地下管道修复方法
CN105174007A (zh) * 2015-10-13 2015-12-23 中国华冶科工集团有限公司 凿井吊桶运动状态测试方法及装置
CN105800411A (zh) * 2016-04-14 2016-07-27 上海之跃信息科技有限公司 一种测量电梯运动的装置、方法和系统

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6349249B1 (en) 1998-04-24 2002-02-19 Inco Limited Automated guided apparatus suitable for toping applications
US7562747B2 (en) 2004-08-12 2009-07-21 Inventio Ag Elevator installation and method for determining and analyzing an elevator car position
US20130096873A1 (en) 2011-10-17 2013-04-18 Kla-Tencor Corporation Acquisition of Information for a Construction Site
WO2014027142A1 (fr) 2012-08-17 2014-02-20 Kone Corporation Procédé dans la gestion de données associées à un ascenseur
US20140251734A1 (en) * 2013-03-11 2014-09-11 Mitsubishi Electric Research Laboratories, Inc. System and Method for Controlling Semi-Active Actuators Arranged to Minimize Vibration in Elevator Systems
US20160139269A1 (en) 2014-11-19 2016-05-19 Kabushiki Kaisha Toshiba Elevator shaft internal configuration measuring device, elevator shaft internal configuration measurement method, and non-transitory recording medium
WO2017093438A1 (fr) 2015-12-02 2017-06-08 Inventio Ag Contrôle et/ou établissement de protocole d'une position d'un outil dans une cage d'ascenseur

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210300729A1 (en) * 2018-09-26 2021-09-30 Inventio Ag Method for planning and at least partially installing an elevator system in an elevator shaft
US11708244B2 (en) * 2018-09-26 2023-07-25 Inventio Ag Method for planning and at least partially installing an elevator system in an elevator shaft

Also Published As

Publication number Publication date
CN109641723A (zh) 2019-04-16
US20190177120A1 (en) 2019-06-13
SG11201900764UA (en) 2019-03-28
EP3507227A1 (fr) 2019-07-10
AU2017318398B2 (en) 2020-10-01
CN109641723B (zh) 2021-03-09
EP3507227B1 (fr) 2021-01-06
AU2017318398A1 (en) 2019-03-14
WO2018041815A1 (fr) 2018-03-08

Similar Documents

Publication Publication Date Title
US10745242B2 (en) Method for analysis and measurement system for measuring an elevator shaft of an elevator system
CN1922473B (zh) 用于设计检测路径及用于确定待检测区域的方法
JP5400044B2 (ja) 室内環境地図の作成方法及びシステム
CN106767676B (zh) 一种空间垂向分布点位置测量方法及系统
US11348322B1 (en) Tracking an ongoing construction by using fiducial markers
CN107727014A (zh) 一种墙面平整度、垂直度偏差检测装置及方法
US11708244B2 (en) Method for planning and at least partially installing an elevator system in an elevator shaft
US20200363491A1 (en) Monitoring and/or recording a position of a tool in an elevator shaft
JP2016050876A (ja) 打音検査記録装置
Mao et al. Virtual laser target board for alignment control and machine guidance in tunnel-boring operations
CN110325472A (zh) 尺寸测定装置
CN110005469A (zh) 隧道施工监控方法、装置及系统
CN114705134A (zh) 一种电梯导轨垂直度与平行度自动检测装置
EP4095036A1 (fr) Véhicule aérien autonome sans pilote pour l'inspection d'un passage vertical de bâtiment
CN113165848B (zh) 用于至少部分自动化地计划升降机设备的升降机组件的安装的方法
CN113655467B (zh) 用于激光雷达的精度测量装置、方法及激光雷达
EP3929137A1 (fr) Procédé et dispositif permettant d'installer des composants de porte d'ascenseur
SE520914C2 (sv) Förfarande för beröringsfri mätning av avstånd och läge till flygplan vid dockning, jämte anordning härför
KR100258405B1 (ko) 터널공사시 발파위치 및 내공측정방법 및 장치
JP2002081936A (ja) エレベータの寸法測定装置
KR102661619B1 (ko) 외곽 타공형 실내 위치 추정 장치 및 방법
Mao Design and optimization of tunnel guidance systems for tunneling subject to constrained space and limited visibility
GB2629138A (en) Devices and methods for setting out features of a construction site
CN118451342A (zh) 获取对象的尺寸和特征的设备和方法
Kołakowska et al. Selected aspects of using terrestrial laser scanning technology as the source of additional data for building information modeling

Legal Events

Date Code Title Description
AS Assignment

Owner name: INVENTIO AG, SWITZERLAND

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:STUDER, CHRISTIAN;BITZI, RAPHAEL;BUTLER, ERICH;SIGNING DATES FROM 20190204 TO 20190207;REEL/FRAME:048261/0963

FEPP Fee payment procedure

Free format text: ENTITY STATUS SET TO UNDISCOUNTED (ORIGINAL EVENT CODE: BIG.); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

STPP Information on status: patent application and granting procedure in general

Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION

STPP Information on status: patent application and granting procedure in general

Free format text: NOTICE OF ALLOWANCE MAILED -- APPLICATION RECEIVED IN OFFICE OF PUBLICATIONS

STPP Information on status: patent application and granting procedure in general

Free format text: PUBLICATIONS -- ISSUE FEE PAYMENT VERIFIED

STCF Information on status: patent grant

Free format text: PATENTED CASE

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 4TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1551); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

Year of fee payment: 4